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Condensed Consolidated Statements of Changes in Stockholders' Equity (Unaudited) - USD ($) | Consultant [Member] Common Stock [Member] | Consultant [Member] Additional Paid-in Capital [Member] | Consultant [Member] Retained Earnings [Member] | Consultant [Member] | Board of Directors [Member] Common Stock [Member] | Board of Directors [Member] Additional Paid-in Capital [Member] | Board of Directors [Member] Retained Earnings [Member] | Board of Directors [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Noncontrolling Interest [Member] | Treasury Stock [Member] | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  | 64,171,435 |  |  |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  | $ 64,171 | $ 117,934,696 | $ (100,885,957) | $ (94,426) | $ (911,516) | $ 16,106,968
Stock based compensation |  |  |  |  |  |  |  |  |  | 113,507 |  |  |  | 113,507
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  | 100,000 |  |  |  | 100,000
Net loss |  |  |  |  |  |  |  |  |  |  | (972,869) | (12,988) |  | (985,857)
Common stock issued for compensation (in shares) |  |  |  |  | 18,879 |  |  |  | 7,075 |  |  |  |  |
Common stock issued for compensation |  |  |  |  |  |  |  |  | $ 7 |  |  |  |  | 7
Common stock to issued for services |  |  |  |  | $ 18 |  |  | $ 18 |  |  |  |  |  |
Common stock to be issued for payment of consulting services expensed in prior periods (in shares) | 40,010 |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock to be issued for payment of consulting services expensed in prior periods | $ 40 |  |  | $ 40 |  |  |  |  |  |  |  |  |  |
Common stock issued to employee for stock options exercised (in shares) |  |  |  |  |  |  |  |  | 435,558 |  |  |  |  |
Common stock issued to employee for stock options exercised |  |  |  |  |  |  |  |  | $ 436 | 689,754 |  |  |  | 690,190
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  | 1,918,925 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  | $ 1,919 | 3,010,297 |  |  |  | 3,012,216
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  | 1,918,925 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  | $ 1,919 | 3,010,297 |  |  |  | 3,012,216
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  |  | 66,591,882 |  |  |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  |  |  |  | $ 66,591 | 121,848,254 | (101,858,826) | (107,414) | (911,516) | 19,037,089
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  | 64,171,435 |  |  |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  | $ 64,171 | 117,934,696 | (100,885,957) | (94,426) | (911,516) | 16,106,968
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  | (3,682,650)
Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  |  |  |  | 67,055,869 |  |  |  |  |
Balance at Jun. 30, 2021 |  |  |  |  |  |  |  |  | $ 67,055 | 123,075,664 | (104,539,294) | (123,739) | (911,516) | 17,568,170
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  |  | 66,591,882 |  |  |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  |  |  |  | $ 66,591 | 121,848,254 | (101,858,826) | (107,414) | (911,516) | 19,037,089
Stock based compensation |  |  |  |  |  |  |  |  |  | 193,824 |  |  |  | 193,824
Net loss |  |  |  |  |  |  |  |  |  |  | (2,680,468) | (16,325) |  | (2,696,793)
Common stock issued for compensation (in shares) |  |  |  |  |  |  |  |  | 4,202 |  |  |  |  |
Common stock issued for compensation |  |  |  |  |  |  |  |  | $ 4 | 14,996 |  |  |  | 15,000
Common stock to be issued for payment of consulting services (in shares) | 96,018 |  |  |  | 277,767 |  |  |  |  |  |  |  |  |
Common stock to be issued for payment of consulting services | $ 94 | $ 262,589 |  | $ 262,683 |  |  |  |  |  |  |  |  |  |
Common stock to issued for services |  |  |  |  | $ 280 | $ 617,887 |  | 618,167 |  |  |  |  |  |
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  | 86,000 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  | $ 86 | 138,114 |  |  |  | 138,200
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  | 86,000 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  | $ 86 | 138,114 |  |  |  | 138,200
Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  |  |  |  | 67,055,869 |  |  |  |  |
Balance at Jun. 30, 2021 |  |  |  |  |  |  |  |  | $ 67,055 | 123,075,664 | (104,539,294) | (123,739) | (911,516) | 17,568,170
Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Dec. 31, 2021 |  |  |  |  |  |  |  |  | $ 68,153 | 124,915,560 | (107,704,274) | (152,541) | (911,516) | 16,215,382
Stock based compensation |  |  |  |  |  |  |  |  |  | 305,370 |  |  |  | 305,370
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  | 164,385 |  |  |  | 164,385
Net loss |  |  |  |  |  |  |  |  |  |  | (1,901,723) | (17,502) |  | (1,919,225)
Balance (in shares) at Mar. 31, 2022 |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Mar. 31, 2022 |  |  |  |  |  |  |  |  | $ 68,153 | 125,385,315 | (109,605,997) | (170,043) | (911,516) | 14,765,912
Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Dec. 31, 2021 |  |  |  |  |  |  |  |  | $ 68,153 | 124,915,560 | (107,704,274) | (152,541) | (911,516) | 16,215,382
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  | (4,800,554)
Balance (in shares) at Jun. 30, 2022 |  |  |  |  |  |  |  |  | 68,811,482 |  |  |  |  |
Balance at Jun. 30, 2022 |  |  |  |  |  |  |  |  | $ 68,811 | 126,175,735 | (112,464,478) | (192,891) | (911,516) | 12,675,661
Balance (in shares) at Mar. 31, 2022 |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Mar. 31, 2022 |  |  |  |  |  |  |  |  | $ 68,153 | 125,385,315 | (109,605,997) | (170,043) | (911,516) | 14,765,912
Stock based compensation |  |  |  |  |  |  |  |  |  | 392,266 |  |  |  | 392,266
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  | $ 147 | (147) |  |  |  |
Net loss |  |  |  |  |  |  |  |  |  |  | (2,858,481) | (22,848) |  | (2,881,329)
Common stock issued for compensation (in shares) |  |  |  |  | 224,850 |  |  |  | 27,051 |  |  |  |  |
Common stock issued for compensation |  |  |  |  | $ 225 | (225) |  | 0 | $ 27 | 39,973 | 0 |  |  | 40,000
Common stock to be issued for payment of consulting services (in shares) | 246,028 |  |  |  | 12,879 |  |  |  |  |  |  |  |  |
Common stock to be issued for payment of consulting services | $ 246 | $ 345,689 | $ 0 |  |  |  |  | 345,935 |  |  |  |  |  |
Common stock to issued for services |  |  |  |  | $ 13 | $ 12,864 | $ 0 | $ 12,877 |  |  |  |  |  |
Common stock to be issued to employees for bonuses (in shares) |  |  |  |  |  |  |  |  | 147,338 |  |  |  |  |
Balance (in shares) at Jun. 30, 2022 |  |  |  |  |  |  |  |  | 68,811,482 |  |  |  |  |
Balance at Jun. 30, 2022 |  |  |  |  |  |  |  |  | $ 68,811 | $ 126,175,735 | $ (112,464,478) | $ (192,891) | $ (911,516) | $ 12,675,661

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